#include <ueye_cam_nodelet.hpp>

Inheritance diagram for ueye_cam::UEyeCamNodelet:

Public Member Functions
void	configCallback (ueye_cam::UEyeCamConfig &config, uint32_t level)

virtual void	onInit ()

	UEyeCamNodelet ()

virtual	~UEyeCamNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Public Member Functions inherited from ueye_cam::UEyeCamDriver
virtual INT	connectCam (int new_cam_ID=-1)

bool	extTriggerModeActive ()

bool	freeRunModeActive ()

bool	getClockTick (uint64_t *tick)

bool	getTimestamp (UEYETIME *timestamp)

bool	isCapturing ()

bool	isConnected ()

INT	loadCamConfig (std::string filename, bool ignore_load_failure=true)

const char *	processNextFrame (UINT timeout_ms)

INT	setBinning (int &rate, bool reallocate_buffer=true)

INT	setColorMode (std::string &mode, bool reallocate_buffer=true)

INT	setExposure (bool &auto_exposure, double &auto_exposure_reference, double &exposure_ms)

INT	setExtTriggerMode ()

INT	setFlashParams (INT &delay_us, UINT &duration_us)

INT	setFrameRate (bool &auto_frame_rate, double &frame_rate_hz)

INT	setFreeRunMode ()

INT	setGain (bool &auto_gain, INT &master_gain_prc, INT &red_gain_prc, INT &green_gain_prc, INT &blue_gain_prc, bool &gain_boost)

INT	setGpioMode (const INT &gpio, INT &mode, double &pwm_freq, double &pwm_duty_cycle)

INT	setMirrorLeftRight (bool flip_vertical)

INT	setMirrorUpsideDown (bool flip_horizontal)

INT	setPixelClockRate (INT &clock_rate_mhz)

INT	setResolution (INT &image_width, INT &image_height, INT &image_left, INT &image_top, bool reallocate_buffer=true)

INT	setSensorScaling (double &rate, bool reallocate_buffer=true)

INT	setSoftwareGamma (INT &software_gamma)

INT	setStandbyMode ()

INT	setSubsampling (int &rate, bool reallocate_buffer=true)

INT	setWhiteBalance (bool &auto_white_balance, INT &red_offset, INT &blue_offset)

	UEyeCamDriver (int cam_ID=ANY_CAMERA, std::string cam_name="camera")

virtual	~UEyeCamDriver ()

Static Public Attributes
const static std::string	DEFAULT_CAMERA_NAME = "camera"

const static std::string	DEFAULT_CAMERA_TOPIC = "image_raw"

const static std::string	DEFAULT_COLOR_MODE = ""

constexpr static double	DEFAULT_EXPOSURE = 33.0

constexpr static int	DEFAULT_FLASH_DURATION = 1000

const static std::string	DEFAULT_FRAME_NAME = "camera"

constexpr static double	DEFAULT_FRAME_RATE = 10.0

constexpr static int	DEFAULT_IMAGE_HEIGHT = 480

constexpr static int	DEFAULT_IMAGE_WIDTH = 640

constexpr static int	DEFAULT_PIXEL_CLOCK = 25

const static std::string	DEFAULT_TIMEOUT_TOPIC = "timeout_count"

constexpr static unsigned int	RECONFIGURE_CLOSE = 3

constexpr static unsigned int	RECONFIGURE_RUNNING = 0

constexpr static unsigned int	RECONFIGURE_STOP = 1

Static Public Attributes inherited from ueye_cam::UEyeCamDriver
constexpr static int	ANY_CAMERA = 0

Protected Member Functions
virtual INT	connectCam ()

virtual INT	disconnectCam ()

bool	fillMsgData (sensor_msgs::Image &img) const

void	frameGrabLoop ()

ros::Time	getImageTickTimestamp ()

ros::Time	getImageTimestamp ()

virtual void	handleTimeout ()

void	loadIntrinsicsFile ()

INT	parseROSParams (ros::NodeHandle &local_nh)

INT	queryCamParams ()

bool	saveIntrinsicsFile ()

bool	setCamInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)

void	startFrameGrabber ()

void	stopFrameGrabber ()

virtual INT	syncCamConfig (std::string dft_mode_str="mono8")

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Member Functions inherited from ueye_cam::UEyeCamDriver
INT	reallocateCamBuffer ()

Protected Attributes
std::string	cam_intr_filename_

ueye_cam::UEyeCamConfig	cam_params_

std::string	cam_params_filename_

std::string	cam_topic_

bool	cfg_sync_requested_

bool	frame_grab_alive_

std::thread	frame_grab_thread_

std::string	frame_name_

uint64_t	init_clock_tick_

ros::Time	init_publish_time_

ros::Time	init_ros_time_

boost::mutex	output_rate_mutex_

uint64_t	prev_output_frame_idx_

sensor_msgs::CameraInfo	ros_cam_info_

image_transport::CameraPublisher	ros_cam_pub_

ReconfigureServer *	ros_cfg_

boost::recursive_mutex	ros_cfg_mutex_

unsigned int	ros_frame_count_

sensor_msgs::Image	ros_image_

ros::ServiceServer	set_cam_info_srv_

unsigned long long int	timeout_count_

ros::Publisher	timeout_pub_

std::string	timeout_topic_

Protected Attributes inherited from ueye_cam::UEyeCamDriver
INT	bits_per_pixel_

IS_RECT	cam_aoi_

unsigned int	cam_binning_rate_

char *	cam_buffer_

int	cam_buffer_id_

INT	cam_buffer_pitch_

unsigned int	cam_buffer_size_

HIDS	cam_handle_

int	cam_id_

std::string	cam_name_

SENSORINFO	cam_sensor_info_

double	cam_sensor_scaling_rate_

unsigned int	cam_subsampling_rate_

INT	color_mode_

Static Protected Attributes
const static std::map< INT, std::string >	ENCODING_DICTIONARY

Static Protected Attributes inherited from ueye_cam::UEyeCamDriver
const static std::map< std::string, INT >	COLOR_DICTIONARY

Additional Inherited Members
Static Public Member Functions inherited from ueye_cam::UEyeCamDriver
static INT	colormode2bpp (INT mode)

const static std::string	colormode2img_enc (INT mode)

const static std::string	colormode2name (INT mode)

const static char *	colormode2str (INT mode)

const static char *	err2str (INT error)

const static std::function< void (void , void *, size_t)>	getUnpackCopyFunc (INT color_mode)

static bool	isSupportedColorMode (INT mode)

static INT	name2colormode (const std::string &name)

static void *	unpack10u (void dst, void src, size_t num)

static void *	unpack12u (void dst, void src, size_t num)

static void *	unpackRGB10 (void dst, void src, size_t num)

Detailed Description

ROS interface nodelet for UEye camera API from IDS Imaging Development Systems GMBH.

Definition at line 117 of file ueye_cam_nodelet.hpp.

Constructor & Destructor Documentation

◆ UEyeCamNodelet()

ueye_cam::UEyeCamNodelet::UEyeCamNodelet ( )

Definition at line 76 of file ueye_cam_nodelet.cpp.

◆ ~UEyeCamNodelet()

ueye_cam::UEyeCamNodelet::~UEyeCamNodelet ( )

virtual

Definition at line 129 of file ueye_cam_nodelet.cpp.

Member Function Documentation

◆ configCallback()

void ueye_cam::UEyeCamNodelet::configCallback	(	ueye_cam::UEyeCamConfig &	config,
		uint32_t	level
	)

Handles callbacks from dynamic_reconfigure.

Definition at line 633 of file ueye_cam_nodelet.cpp.

◆ connectCam()

INT ueye_cam::UEyeCamNodelet::connectCam ( )

protectedvirtual

Initializes the camera handle, loads UEye INI configuration, refreshes parameters from camera, loads and sets static ROS parameters, and starts the frame grabber thread.

Definition at line 975 of file ueye_cam_nodelet.cpp.

◆ disconnectCam()

INT ueye_cam::UEyeCamNodelet::disconnectCam ( )

protectedvirtual

Stops the frame grabber thread, closes the camera handle, and releases all local variables.

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 999 of file ueye_cam_nodelet.cpp.

◆ fillMsgData()

bool ueye_cam::UEyeCamNodelet::fillMsgData ( sensor_msgs::Image & img ) const

protected

Transfers the current frame content into given sensor_msgs::Image, therefore writes the fields width, height, encoding, step and data of img.

Definition at line 1230 of file ueye_cam_nodelet.cpp.

◆ frameGrabLoop()

void ueye_cam::UEyeCamNodelet::frameGrabLoop ( )

protected

Main ROS interface "spin" loop.

Definition at line 1023 of file ueye_cam_nodelet.cpp.

◆ getImageTickTimestamp()

ros::Time ueye_cam::UEyeCamNodelet::getImageTickTimestamp ( )

protected

Returns image's timestamp based on device's internal clock or current wall time if driver call fails.

Definition at line 1320 of file ueye_cam_nodelet.cpp.

◆ getImageTimestamp()

ros::Time ueye_cam::UEyeCamNodelet::getImageTimestamp ( )

protected

Returns image's timestamp or current wall time if driver call fails.

Definition at line 1296 of file ueye_cam_nodelet.cpp.

◆ handleTimeout()

void ueye_cam::UEyeCamNodelet::handleTimeout ( )

protectedvirtual

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 1330 of file ueye_cam_nodelet.cpp.

◆ loadIntrinsicsFile()

void ueye_cam::UEyeCamNodelet::loadIntrinsicsFile ( )

protected

Loads the camera's intrinsic parameters from camIntrFilename.

Definition at line 1275 of file ueye_cam_nodelet.cpp.

◆ onInit()

void ueye_cam::UEyeCamNodelet::onInit ( )

virtual

Initializes ROS environment, loads static ROS parameters, initializes UEye camera, and starts live capturing / frame grabbing thread.

Implements nodelet::Nodelet.

Definition at line 142 of file ueye_cam_nodelet.cpp.

◆ parseROSParams()

INT ueye_cam::UEyeCamNodelet::parseROSParams ( ros::NodeHandle & local_nh )

protected

Loads, validates, and updates static ROS parameters.

Definition at line 220 of file ueye_cam_nodelet.cpp.

◆ queryCamParams()

INT ueye_cam::UEyeCamNodelet::queryCamParams ( )

protected

Reads parameter values from currently selected camera.

Definition at line 834 of file ueye_cam_nodelet.cpp.

◆ saveIntrinsicsFile()

bool ueye_cam::UEyeCamNodelet::saveIntrinsicsFile ( )

protected

Saves the camera's intrinsic parameters to camIntrFilename.

Definition at line 1287 of file ueye_cam_nodelet.cpp.

◆ setCamInfo()

bool ueye_cam::UEyeCamNodelet::setCamInfo	(	sensor_msgs::SetCameraInfo::Request &	req,
		sensor_msgs::SetCameraInfo::Response &	rsp
	)

protected

(ROS Service) Updates the camera's intrinsic parameters over the ROS topic, and saves the parameters to a flatfile.

Definition at line 1011 of file ueye_cam_nodelet.cpp.

◆ startFrameGrabber()

void ueye_cam::UEyeCamNodelet::startFrameGrabber ( )

protected

Definition at line 1197 of file ueye_cam_nodelet.cpp.

◆ stopFrameGrabber()

void ueye_cam::UEyeCamNodelet::stopFrameGrabber ( )

protected

Definition at line 1203 of file ueye_cam_nodelet.cpp.

◆ syncCamConfig()

INT ueye_cam::UEyeCamNodelet::syncCamConfig ( std::string dft_mode_str = "mono8" )

protectedvirtual

Calls UEyeCamDriver::syncCamConfig(), then updates ROS camera info and ROS image settings.

Reimplemented from ueye_cam::UEyeCamDriver.

Definition at line 801 of file ueye_cam_nodelet.cpp.

Member Data Documentation

◆ cam_intr_filename_

std::string ueye_cam::UEyeCamNodelet::cam_intr_filename_

protected

Definition at line 246 of file ueye_cam_nodelet.hpp.

◆ cam_params_

ueye_cam::UEyeCamConfig ueye_cam::UEyeCamNodelet::cam_params_

protected

Definition at line 248 of file ueye_cam_nodelet.hpp.

◆ cam_params_filename_

std::string ueye_cam::UEyeCamNodelet::cam_params_filename_

protected

Definition at line 247 of file ueye_cam_nodelet.hpp.

◆ cam_topic_

std::string ueye_cam::UEyeCamNodelet::cam_topic_

protected

Definition at line 244 of file ueye_cam_nodelet.hpp.

◆ cfg_sync_requested_

bool ueye_cam::UEyeCamNodelet::cfg_sync_requested_

protected

Definition at line 232 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_CAMERA_NAME

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_CAMERA_NAME = "camera"

static

Definition at line 130 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_CAMERA_TOPIC

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_CAMERA_TOPIC = "image_raw"

static

Definition at line 131 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_COLOR_MODE

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_COLOR_MODE = ""

static

Definition at line 133 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_EXPOSURE

constexpr static double ueye_cam::UEyeCamNodelet::DEFAULT_EXPOSURE = 33.0

staticconstexpr

Definition at line 124 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_FLASH_DURATION

constexpr static int ueye_cam::UEyeCamNodelet::DEFAULT_FLASH_DURATION = 1000

staticconstexpr

Definition at line 127 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_FRAME_NAME

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_FRAME_NAME = "camera"

static

Definition at line 129 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_FRAME_RATE

constexpr static double ueye_cam::UEyeCamNodelet::DEFAULT_FRAME_RATE = 10.0

staticconstexpr

Definition at line 125 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_IMAGE_HEIGHT

constexpr static int ueye_cam::UEyeCamNodelet::DEFAULT_IMAGE_HEIGHT = 480

staticconstexpr

Definition at line 123 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_IMAGE_WIDTH

constexpr static int ueye_cam::UEyeCamNodelet::DEFAULT_IMAGE_WIDTH = 640

staticconstexpr

Definition at line 122 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_PIXEL_CLOCK

constexpr static int ueye_cam::UEyeCamNodelet::DEFAULT_PIXEL_CLOCK = 25

staticconstexpr

Definition at line 126 of file ueye_cam_nodelet.hpp.

◆ DEFAULT_TIMEOUT_TOPIC

const std::string ueye_cam::UEyeCamNodelet::DEFAULT_TIMEOUT_TOPIC = "timeout_count"

static

Definition at line 132 of file ueye_cam_nodelet.hpp.

◆ ENCODING_DICTIONARY

const std::map< INT, std::string > ueye_cam::UEyeCamNodelet::ENCODING_DICTIONARY

staticprotected

Initial value:

= {
    { IS_CM_SENSOR_RAW8, sensor_msgs::image_encodings::BAYER_RGGB8 },
    { IS_CM_SENSOR_RAW10, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_SENSOR_RAW12, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_SENSOR_RAW16, sensor_msgs::image_encodings::BAYER_RGGB16 },
    { IS_CM_MONO8, sensor_msgs::image_encodings::MONO8 },
    { IS_CM_MONO10, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_MONO12, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_MONO16, sensor_msgs::image_encodings::MONO16 },
    { IS_CM_RGB8_PACKED, sensor_msgs::image_encodings::RGB8 },
    { IS_CM_BGR8_PACKED, sensor_msgs::image_encodings::BGR8 },
    { IS_CM_RGB10_PACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR10_PACKED, sensor_msgs::image_encodings::BGR16 },
    { IS_CM_RGB10_UNPACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR10_UNPACKED, sensor_msgs::image_encodings::BGR16 },
    { IS_CM_RGB12_UNPACKED, sensor_msgs::image_encodings::RGB16 },
    { IS_CM_BGR12_UNPACKED, sensor_msgs::image_encodings::BGR16 }
}

Definition at line 207 of file ueye_cam_nodelet.hpp.

◆ frame_grab_alive_

bool ueye_cam::UEyeCamNodelet::frame_grab_alive_

protected

Definition at line 228 of file ueye_cam_nodelet.hpp.

◆ frame_grab_thread_

std::thread ueye_cam::UEyeCamNodelet::frame_grab_thread_

protected

Definition at line 227 of file ueye_cam_nodelet.hpp.

◆ frame_name_

std::string ueye_cam::UEyeCamNodelet::frame_name_

protected

Definition at line 243 of file ueye_cam_nodelet.hpp.

◆ init_clock_tick_

uint64_t ueye_cam::UEyeCamNodelet::init_clock_tick_

protected

Definition at line 251 of file ueye_cam_nodelet.hpp.

◆ init_publish_time_

ros::Time ueye_cam::UEyeCamNodelet::init_publish_time_

protected

Definition at line 253 of file ueye_cam_nodelet.hpp.

◆ init_ros_time_

ros::Time ueye_cam::UEyeCamNodelet::init_ros_time_

protected

Definition at line 250 of file ueye_cam_nodelet.hpp.

◆ output_rate_mutex_

boost::mutex ueye_cam::UEyeCamNodelet::output_rate_mutex_

protected

Definition at line 255 of file ueye_cam_nodelet.hpp.

◆ prev_output_frame_idx_

uint64_t ueye_cam::UEyeCamNodelet::prev_output_frame_idx_

protected

Definition at line 254 of file ueye_cam_nodelet.hpp.

◆ RECONFIGURE_CLOSE

constexpr static unsigned int ueye_cam::UEyeCamNodelet::RECONFIGURE_CLOSE = 3

staticconstexpr

Definition at line 121 of file ueye_cam_nodelet.hpp.

◆ RECONFIGURE_RUNNING

constexpr static unsigned int ueye_cam::UEyeCamNodelet::RECONFIGURE_RUNNING = 0

staticconstexpr

Definition at line 119 of file ueye_cam_nodelet.hpp.

◆ RECONFIGURE_STOP

constexpr static unsigned int ueye_cam::UEyeCamNodelet::RECONFIGURE_STOP = 1

staticconstexpr

Definition at line 120 of file ueye_cam_nodelet.hpp.

◆ ros_cam_info_

sensor_msgs::CameraInfo ueye_cam::UEyeCamNodelet::ros_cam_info_

protected

Definition at line 236 of file ueye_cam_nodelet.hpp.

◆ ros_cam_pub_

image_transport::CameraPublisher ueye_cam::UEyeCamNodelet::ros_cam_pub_

protected

Definition at line 234 of file ueye_cam_nodelet.hpp.

◆ ros_cfg_

ReconfigureServer* ueye_cam::UEyeCamNodelet::ros_cfg_

protected

Definition at line 230 of file ueye_cam_nodelet.hpp.

◆ ros_cfg_mutex_

boost::recursive_mutex ueye_cam::UEyeCamNodelet::ros_cfg_mutex_

protected

Definition at line 231 of file ueye_cam_nodelet.hpp.

◆ ros_frame_count_

unsigned int ueye_cam::UEyeCamNodelet::ros_frame_count_

protected

Definition at line 237 of file ueye_cam_nodelet.hpp.

◆ ros_image_

sensor_msgs::Image ueye_cam::UEyeCamNodelet::ros_image_

protected

Definition at line 235 of file ueye_cam_nodelet.hpp.

◆ set_cam_info_srv_

ros::ServiceServer ueye_cam::UEyeCamNodelet::set_cam_info_srv_

protected

Definition at line 241 of file ueye_cam_nodelet.hpp.

◆ timeout_count_

unsigned long long int ueye_cam::UEyeCamNodelet::timeout_count_

protected

Definition at line 239 of file ueye_cam_nodelet.hpp.

◆ timeout_pub_

ros::Publisher ueye_cam::UEyeCamNodelet::timeout_pub_

protected

Definition at line 238 of file ueye_cam_nodelet.hpp.

◆ timeout_topic_

std::string ueye_cam::UEyeCamNodelet::timeout_topic_

protected

Definition at line 245 of file ueye_cam_nodelet.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UEyeCamNodelet()

◆ ~UEyeCamNodelet()

Member Function Documentation

◆ configCallback()

◆ connectCam()

◆ disconnectCam()

◆ fillMsgData()

◆ frameGrabLoop()

◆ getImageTickTimestamp()

◆ getImageTimestamp()

◆ handleTimeout()

◆ loadIntrinsicsFile()

◆ onInit()

◆ parseROSParams()

◆ queryCamParams()

◆ saveIntrinsicsFile()

◆ setCamInfo()

◆ startFrameGrabber()

◆ stopFrameGrabber()

◆ syncCamConfig()

Member Data Documentation

◆ cam_intr_filename_

◆ cam_params_

◆ cam_params_filename_

◆ cam_topic_

◆ cfg_sync_requested_

◆ DEFAULT_CAMERA_NAME

◆ DEFAULT_CAMERA_TOPIC

◆ DEFAULT_COLOR_MODE

◆ DEFAULT_EXPOSURE

◆ DEFAULT_FLASH_DURATION

◆ DEFAULT_FRAME_NAME

◆ DEFAULT_FRAME_RATE

◆ DEFAULT_IMAGE_HEIGHT

◆ DEFAULT_IMAGE_WIDTH

◆ DEFAULT_PIXEL_CLOCK

◆ DEFAULT_TIMEOUT_TOPIC

◆ ENCODING_DICTIONARY

◆ frame_grab_alive_

◆ frame_grab_thread_

◆ frame_name_

◆ init_clock_tick_

◆ init_publish_time_

◆ init_ros_time_

◆ output_rate_mutex_

◆ prev_output_frame_idx_

◆ RECONFIGURE_CLOSE

◆ RECONFIGURE_RUNNING

◆ RECONFIGURE_STOP

◆ ros_cam_info_

◆ ros_cam_pub_

◆ ros_cfg_

◆ ros_cfg_mutex_

◆ ros_frame_count_

◆ ros_image_

◆ set_cam_info_srv_

◆ timeout_count_

◆ timeout_pub_

◆ timeout_topic_